Topographic mapping for stereo and motion processing

Hanspeter A. Mallot; Thomas Zielke; Kai Storjohann; Werner von Seelen

doi:10.1117/12.25233

1 February 1991 Topographic mapping for stereo and motion processing

Hanspeter A. Mallot, Thomas Zielke, Kai Storjohann, Werner von Seelen

Proceedings Volume 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods; (1991) https://doi.org/10.1117/12.25233
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

Abstract

Topographic mappings are neigbourhood preserving transformations between twodimensional data structures. Mappings of this type are a general means of information processing in the vertebrate visual system. In this paper we present an application of a special topographic mapping termed the inverse perspective mapping for the computation of stereo and motion. More specifically we study a class of algorithms for the detection of deviations from an expected " normal" situation. These expectations concern the global spacevariance of certain image parameters (e. g. disparity or speed of feature motion) and can thus be implemented in the mapping rule. The resulting algorithms are minimal in the sense that no irrelevant information is extracted from the scene. In a technical application we use topographic mappings for a stereo obstacle detection system. The implementation has been tested on an automatically guided vehicle (AGV) in an industrial environment. 1

Citation Download Citation

Hanspeter A. Mallot, Thomas Zielke, Kai Storjohann, and Werner von Seelen "Topographic mapping for stereo and motion processing", Proc. SPIE 1382, Intelligent Robots and Computer Vision IX: Neural, Biological, and 3D Methods, (1 February 1991); https://doi.org/10.1117/12.25233

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available